I cant speak for everybody, but I can speak for myself. Everybody has their own opinions, different styles etc. But when opponents are kicking at me, and I want to close the distance I usually wait until they throw the kick which Im conveniently out of range for and then work my way in from there.
Often times I will look to catch the kick or deflect it as a means to counter attack as well. But for your opponent to kick, he has to commit. And once hes committed, if you avoid the strike with foot work, distance, timing and some thought you should be able to get inside. Ofcourse, depends on your opponent and rule set too.